<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
<html xmlns="http://www.w3.org/1999/xhtml">
<head>
<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
<meta http-equiv="X-UA-Compatible" content="IE=9"/>
<meta name="generator" content="Doxygen 1.9.1"/>
<meta name="viewport" content="width=device-width, initial-scale=1"/>
<title>Doxygen: pcl::SampleConsensusModelParallelLine&lt; PointT &gt; 模板类 参考</title>
<link href="tabs.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="jquery.js"></script>
<script type="text/javascript" src="dynsections.js"></script>
<link href="navtree.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="resize.js"></script>
<script type="text/javascript" src="navtreedata.js"></script>
<script type="text/javascript" src="navtree.js"></script>
<link href="search/search.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="search/searchdata.js"></script>
<script type="text/javascript" src="search/search.js"></script>
<link href="doxygen.css" rel="stylesheet" type="text/css" />
</head>
<body>
<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
<div id="titlearea">
<table cellspacing="0" cellpadding="0">
 <tbody>
 <tr style="height: 56px;">
  <td id="projectalign" style="padding-left: 0.5em;">
   <div id="projectname">Doxygen
   </div>
  </td>
 </tr>
 </tbody>
</table>
</div>
<!-- end header part -->
<!-- 制作者 Doxygen 1.9.1 -->
<script type="text/javascript">
/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
var searchBox = new SearchBox("searchBox", "search",false,'搜索','.html');
/* @license-end */
</script>
<script type="text/javascript" src="menudata.js"></script>
<script type="text/javascript" src="menu.js"></script>
<script type="text/javascript">
/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
$(function() {
  initMenu('',true,false,'search.php','搜索');
  $(document).ready(function() { init_search(); });
});
/* @license-end */</script>
<div id="main-nav"></div>
</div><!-- top -->
<div id="side-nav" class="ui-resizable side-nav-resizable">
  <div id="nav-tree">
    <div id="nav-tree-contents">
      <div id="nav-sync" class="sync"></div>
    </div>
  </div>
  <div id="splitbar" style="-moz-user-select:none;" 
       class="ui-resizable-handle">
  </div>
</div>
<script type="text/javascript">
/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
$(document).ready(function(){initNavTree('classpcl_1_1_sample_consensus_model_parallel_line.html',''); initResizable(); });
/* @license-end */
</script>
<div id="doc-content">
<!-- window showing the filter options -->
<div id="MSearchSelectWindow"
     onmouseover="return searchBox.OnSearchSelectShow()"
     onmouseout="return searchBox.OnSearchSelectHide()"
     onkeydown="return searchBox.OnSearchSelectKey(event)">
</div>

<!-- iframe showing the search results (closed by default) -->
<div id="MSearchResultsWindow">
<iframe src="javascript:void(0)" frameborder="0" 
        name="MSearchResults" id="MSearchResults">
</iframe>
</div>

<div class="header">
  <div class="summary">
<a href="#pub-types">Public 类型</a> &#124;
<a href="#pub-methods">Public 成员函数</a> &#124;
<a href="#pro-methods">Protected 成员函数</a> &#124;
<a href="#pro-attribs">Protected 属性</a> &#124;
<a href="classpcl_1_1_sample_consensus_model_parallel_line-members.html">所有成员列表</a>  </div>
  <div class="headertitle">
<div class="title">pcl::SampleConsensusModelParallelLine&lt; PointT &gt; 模板类 参考</div>  </div>
</div><!--header-->
<div class="contents">

<p><a class="el" href="classpcl_1_1_sample_consensus_model_parallel_line.html" title="SampleConsensusModelParallelLine defines a model for 3D line segmentation using additional angular co...">SampleConsensusModelParallelLine</a> defines a model for 3D line segmentation using additional angular constraints.  
 <a href="classpcl_1_1_sample_consensus_model_parallel_line.html#details">更多...</a></p>

<p><code>#include &lt;<a class="el" href="sac__model__parallel__line_8h_source.html">sac_model_parallel_line.h</a>&gt;</code></p>
<div class="dynheader">
类 pcl::SampleConsensusModelParallelLine&lt; PointT &gt; 继承关系图:</div>
<div class="dyncontent">
 <div class="center">
  <img src="classpcl_1_1_sample_consensus_model_parallel_line.png" usemap="#pcl::SampleConsensusModelParallelLine_3C_20PointT_20_3E_map" alt=""/>
  <map id="pcl::SampleConsensusModelParallelLine_3C_20PointT_20_3E_map" name="pcl::SampleConsensusModelParallelLine_3C_20PointT_20_3E_map">
<area href="classpcl_1_1_sample_consensus_model_line.html" title="SampleConsensusModelLine defines a model for 3D line segmentation. The model coefficients are defined..." alt="pcl::SampleConsensusModelLine&lt; PointT &gt;" shape="rect" coords="0,56,299,80"/>
<area href="classpcl_1_1_sample_consensus_model.html" title="SampleConsensusModel represents the base model class. All sample consensus models must inherit from t..." alt="pcl::SampleConsensusModel&lt; PointT &gt;" shape="rect" coords="0,0,299,24"/>
  </map>
</div></div>
<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-types"></a>
Public 类型</h2></td></tr>
<tr class="memitem:a715202bdefa536ffd5405620075cac60"><td class="memItemLeft" align="right" valign="top"><a id="a715202bdefa536ffd5405620075cac60"></a>
typedef <a class="el" href="classpcl_1_1_sample_consensus_model_line.html">SampleConsensusModelLine</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::<a class="el" href="classpcl_1_1_point_cloud.html">PointCloud</a>&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloud</b></td></tr>
<tr class="separator:a715202bdefa536ffd5405620075cac60"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aa3a0b2060f328a7a7601935319244e23"><td class="memItemLeft" align="right" valign="top"><a id="aa3a0b2060f328a7a7601935319244e23"></a>
typedef <a class="el" href="classpcl_1_1_sample_consensus_model_line.html">SampleConsensusModelLine</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::PointCloudPtr&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudPtr</b></td></tr>
<tr class="separator:aa3a0b2060f328a7a7601935319244e23"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a03e28b7e788f3690cdaa1c6c1e936e20"><td class="memItemLeft" align="right" valign="top"><a id="a03e28b7e788f3690cdaa1c6c1e936e20"></a>
typedef <a class="el" href="classpcl_1_1_sample_consensus_model_line.html">SampleConsensusModelLine</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::PointCloudConstPtr&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudConstPtr</b></td></tr>
<tr class="separator:a03e28b7e788f3690cdaa1c6c1e936e20"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a3cbf4aabd67af9d76e562c96db2feb8b"><td class="memItemLeft" align="right" valign="top"><a id="a3cbf4aabd67af9d76e562c96db2feb8b"></a>
typedef boost::shared_ptr&lt; <a class="el" href="classpcl_1_1_sample_consensus_model_parallel_line.html">SampleConsensusModelParallelLine</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>Ptr</b></td></tr>
<tr class="separator:a3cbf4aabd67af9d76e562c96db2feb8b"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pub_types_classpcl_1_1_sample_consensus_model_line"><td colspan="2" onclick="javascript:toggleInherit('pub_types_classpcl_1_1_sample_consensus_model_line')"><img src="closed.png" alt="-"/>&#160;Public 类型 继承自 <a class="el" href="classpcl_1_1_sample_consensus_model_line.html">pcl::SampleConsensusModelLine&lt; PointT &gt;</a></td></tr>
<tr class="memitem:ad9a86731b46d7f45f5ee75e2546b5e6b inherit pub_types_classpcl_1_1_sample_consensus_model_line"><td class="memItemLeft" align="right" valign="top"><a id="ad9a86731b46d7f45f5ee75e2546b5e6b"></a>
typedef <a class="el" href="classpcl_1_1_sample_consensus_model.html">SampleConsensusModel</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::<a class="el" href="classpcl_1_1_point_cloud.html">PointCloud</a>&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloud</b></td></tr>
<tr class="separator:ad9a86731b46d7f45f5ee75e2546b5e6b inherit pub_types_classpcl_1_1_sample_consensus_model_line"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ac129bfa70dde9f6a7f1366eccc918a7d inherit pub_types_classpcl_1_1_sample_consensus_model_line"><td class="memItemLeft" align="right" valign="top"><a id="ac129bfa70dde9f6a7f1366eccc918a7d"></a>
typedef <a class="el" href="classpcl_1_1_sample_consensus_model.html">SampleConsensusModel</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::PointCloudPtr&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudPtr</b></td></tr>
<tr class="separator:ac129bfa70dde9f6a7f1366eccc918a7d inherit pub_types_classpcl_1_1_sample_consensus_model_line"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a6bd6118658a68dab0cb09e74869f4313 inherit pub_types_classpcl_1_1_sample_consensus_model_line"><td class="memItemLeft" align="right" valign="top"><a id="a6bd6118658a68dab0cb09e74869f4313"></a>
typedef <a class="el" href="classpcl_1_1_sample_consensus_model.html">SampleConsensusModel</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::PointCloudConstPtr&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudConstPtr</b></td></tr>
<tr class="separator:a6bd6118658a68dab0cb09e74869f4313 inherit pub_types_classpcl_1_1_sample_consensus_model_line"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a69084e1ae492e146720c02f1d45dfdb3 inherit pub_types_classpcl_1_1_sample_consensus_model_line"><td class="memItemLeft" align="right" valign="top"><a id="a69084e1ae492e146720c02f1d45dfdb3"></a>
typedef boost::shared_ptr&lt; <a class="el" href="classpcl_1_1_sample_consensus_model_line.html">SampleConsensusModelLine</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>Ptr</b></td></tr>
<tr class="separator:a69084e1ae492e146720c02f1d45dfdb3 inherit pub_types_classpcl_1_1_sample_consensus_model_line"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pub_types_classpcl_1_1_sample_consensus_model"><td colspan="2" onclick="javascript:toggleInherit('pub_types_classpcl_1_1_sample_consensus_model')"><img src="closed.png" alt="-"/>&#160;Public 类型 继承自 <a class="el" href="classpcl_1_1_sample_consensus_model.html">pcl::SampleConsensusModel&lt; PointT &gt;</a></td></tr>
<tr class="memitem:a70b51e8d9f8526c1d2dc69ce68d9269e inherit pub_types_classpcl_1_1_sample_consensus_model"><td class="memItemLeft" align="right" valign="top"><a id="a70b51e8d9f8526c1d2dc69ce68d9269e"></a>
typedef <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloud</b></td></tr>
<tr class="separator:a70b51e8d9f8526c1d2dc69ce68d9269e inherit pub_types_classpcl_1_1_sample_consensus_model"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a8f28a92c63418a12f95d1d668d13b49f inherit pub_types_classpcl_1_1_sample_consensus_model"><td class="memItemLeft" align="right" valign="top"><a id="a8f28a92c63418a12f95d1d668d13b49f"></a>
typedef <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::ConstPtr&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudConstPtr</b></td></tr>
<tr class="separator:a8f28a92c63418a12f95d1d668d13b49f inherit pub_types_classpcl_1_1_sample_consensus_model"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aef5bb60764603c6566d663d6e8575b7d inherit pub_types_classpcl_1_1_sample_consensus_model"><td class="memItemLeft" align="right" valign="top"><a id="aef5bb60764603c6566d663d6e8575b7d"></a>
typedef <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::Ptr&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudPtr</b></td></tr>
<tr class="separator:aef5bb60764603c6566d663d6e8575b7d inherit pub_types_classpcl_1_1_sample_consensus_model"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ae432b503734f6bb16a0c47b6bfa8616d inherit pub_types_classpcl_1_1_sample_consensus_model"><td class="memItemLeft" align="right" valign="top"><a id="ae432b503734f6bb16a0c47b6bfa8616d"></a>
typedef <a class="el" href="classpcl_1_1search_1_1_search.html">pcl::search::Search</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::Ptr&#160;</td><td class="memItemRight" valign="bottom"><b>SearchPtr</b></td></tr>
<tr class="separator:ae432b503734f6bb16a0c47b6bfa8616d inherit pub_types_classpcl_1_1_sample_consensus_model"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:acf6ca2b42beebcccb83a22d50866392c inherit pub_types_classpcl_1_1_sample_consensus_model"><td class="memItemLeft" align="right" valign="top"><a id="acf6ca2b42beebcccb83a22d50866392c"></a>
typedef boost::shared_ptr&lt; <a class="el" href="classpcl_1_1_sample_consensus_model.html">SampleConsensusModel</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>Ptr</b></td></tr>
<tr class="separator:acf6ca2b42beebcccb83a22d50866392c inherit pub_types_classpcl_1_1_sample_consensus_model"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a028b710e8a2c3b3fa62c34c1a348c575 inherit pub_types_classpcl_1_1_sample_consensus_model"><td class="memItemLeft" align="right" valign="top"><a id="a028b710e8a2c3b3fa62c34c1a348c575"></a>
typedef boost::shared_ptr&lt; const <a class="el" href="classpcl_1_1_sample_consensus_model.html">SampleConsensusModel</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>ConstPtr</b></td></tr>
<tr class="separator:a028b710e8a2c3b3fa62c34c1a348c575 inherit pub_types_classpcl_1_1_sample_consensus_model"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
Public 成员函数</h2></td></tr>
<tr class="memitem:af4f90cb7fd928b447296a722d6fa6cc9"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_sample_consensus_model_parallel_line.html#af4f90cb7fd928b447296a722d6fa6cc9">SampleConsensusModelParallelLine</a> (const PointCloudConstPtr &amp;cloud, bool random=false)</td></tr>
<tr class="memdesc:af4f90cb7fd928b447296a722d6fa6cc9"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor for base <a class="el" href="classpcl_1_1_sample_consensus_model_parallel_line.html" title="SampleConsensusModelParallelLine defines a model for 3D line segmentation using additional angular co...">SampleConsensusModelParallelLine</a>.  <a href="classpcl_1_1_sample_consensus_model_parallel_line.html#af4f90cb7fd928b447296a722d6fa6cc9">更多...</a><br /></td></tr>
<tr class="separator:af4f90cb7fd928b447296a722d6fa6cc9"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:af8b26a5c1066b7158f6c9ac6d3b7bfa3"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_sample_consensus_model_parallel_line.html#af8b26a5c1066b7158f6c9ac6d3b7bfa3">SampleConsensusModelParallelLine</a> (const PointCloudConstPtr &amp;cloud, const std::vector&lt; int &gt; &amp;indices, bool random=false)</td></tr>
<tr class="memdesc:af8b26a5c1066b7158f6c9ac6d3b7bfa3"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor for base <a class="el" href="classpcl_1_1_sample_consensus_model_parallel_line.html" title="SampleConsensusModelParallelLine defines a model for 3D line segmentation using additional angular co...">SampleConsensusModelParallelLine</a>.  <a href="classpcl_1_1_sample_consensus_model_parallel_line.html#af8b26a5c1066b7158f6c9ac6d3b7bfa3">更多...</a><br /></td></tr>
<tr class="separator:af8b26a5c1066b7158f6c9ac6d3b7bfa3"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a34484f63157bc60adb3b1ffca7943948"><td class="memItemLeft" align="right" valign="top"><a id="a34484f63157bc60adb3b1ffca7943948"></a>
virtual&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_sample_consensus_model_parallel_line.html#a34484f63157bc60adb3b1ffca7943948">~SampleConsensusModelParallelLine</a> ()</td></tr>
<tr class="memdesc:a34484f63157bc60adb3b1ffca7943948"><td class="mdescLeft">&#160;</td><td class="mdescRight">Empty destructor <br /></td></tr>
<tr class="separator:a34484f63157bc60adb3b1ffca7943948"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:acb4097faf67966bb0485748a5621088e"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_sample_consensus_model_parallel_line.html#acb4097faf67966bb0485748a5621088e">setAxis</a> (const Eigen::Vector3f &amp;ax)</td></tr>
<tr class="memdesc:acb4097faf67966bb0485748a5621088e"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the axis along which we need to search for a line.  <a href="classpcl_1_1_sample_consensus_model_parallel_line.html#acb4097faf67966bb0485748a5621088e">更多...</a><br /></td></tr>
<tr class="separator:acb4097faf67966bb0485748a5621088e"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:acf0f7c261106bee13d8974ac37a7fff5"><td class="memItemLeft" align="right" valign="top"><a id="acf0f7c261106bee13d8974ac37a7fff5"></a>
Eigen::Vector3f&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_sample_consensus_model_parallel_line.html#acf0f7c261106bee13d8974ac37a7fff5">getAxis</a> () const</td></tr>
<tr class="memdesc:acf0f7c261106bee13d8974ac37a7fff5"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the axis along which we need to search for a line. <br /></td></tr>
<tr class="separator:acf0f7c261106bee13d8974ac37a7fff5"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:af137b97406484a0c837ba428d3b149b4"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_sample_consensus_model_parallel_line.html#af137b97406484a0c837ba428d3b149b4">setEpsAngle</a> (const double ea)</td></tr>
<tr class="memdesc:af137b97406484a0c837ba428d3b149b4"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the angle epsilon (delta) threshold.  <a href="classpcl_1_1_sample_consensus_model_parallel_line.html#af137b97406484a0c837ba428d3b149b4">更多...</a><br /></td></tr>
<tr class="separator:af137b97406484a0c837ba428d3b149b4"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ad9209c7d10fd3703cddd6f4ec4fd2ffc"><td class="memItemLeft" align="right" valign="top"><a id="ad9209c7d10fd3703cddd6f4ec4fd2ffc"></a>
double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_sample_consensus_model_parallel_line.html#ad9209c7d10fd3703cddd6f4ec4fd2ffc">getEpsAngle</a> () const</td></tr>
<tr class="memdesc:ad9209c7d10fd3703cddd6f4ec4fd2ffc"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the angle epsilon (delta) threshold (in radians). <br /></td></tr>
<tr class="separator:ad9209c7d10fd3703cddd6f4ec4fd2ffc"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ae3077204ccbc9222490bbe724fa39070"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_sample_consensus_model_parallel_line.html#ae3077204ccbc9222490bbe724fa39070">selectWithinDistance</a> (const Eigen::VectorXf &amp;model_coefficients, const double threshold, std::vector&lt; int &gt; &amp;inliers)</td></tr>
<tr class="memdesc:ae3077204ccbc9222490bbe724fa39070"><td class="mdescLeft">&#160;</td><td class="mdescRight">Select all the points which respect the given model coefficients as inliers.  <a href="classpcl_1_1_sample_consensus_model_parallel_line.html#ae3077204ccbc9222490bbe724fa39070">更多...</a><br /></td></tr>
<tr class="separator:ae3077204ccbc9222490bbe724fa39070"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:af0ead11670ea3b23befc3f6d8de20191"><td class="memItemLeft" align="right" valign="top">virtual int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_sample_consensus_model_parallel_line.html#af0ead11670ea3b23befc3f6d8de20191">countWithinDistance</a> (const Eigen::VectorXf &amp;model_coefficients, const double threshold)</td></tr>
<tr class="memdesc:af0ead11670ea3b23befc3f6d8de20191"><td class="mdescLeft">&#160;</td><td class="mdescRight">Count all the points which respect the given model coefficients as inliers.  <a href="classpcl_1_1_sample_consensus_model_parallel_line.html#af0ead11670ea3b23befc3f6d8de20191">更多...</a><br /></td></tr>
<tr class="separator:af0ead11670ea3b23befc3f6d8de20191"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aba35bb7eb6ca7b019983bbddd8573fb4"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_sample_consensus_model_parallel_line.html#aba35bb7eb6ca7b019983bbddd8573fb4">getDistancesToModel</a> (const Eigen::VectorXf &amp;model_coefficients, std::vector&lt; double &gt; &amp;distances)</td></tr>
<tr class="memdesc:aba35bb7eb6ca7b019983bbddd8573fb4"><td class="mdescLeft">&#160;</td><td class="mdescRight">Compute all squared distances from the cloud data to a given line model.  <a href="classpcl_1_1_sample_consensus_model_parallel_line.html#aba35bb7eb6ca7b019983bbddd8573fb4">更多...</a><br /></td></tr>
<tr class="separator:aba35bb7eb6ca7b019983bbddd8573fb4"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a43a5572d9d6d13677eef215a0c854eaa"><td class="memItemLeft" align="right" valign="top"><a id="a43a5572d9d6d13677eef215a0c854eaa"></a>
pcl::SacModel&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_sample_consensus_model_parallel_line.html#a43a5572d9d6d13677eef215a0c854eaa">getModelType</a> () const</td></tr>
<tr class="memdesc:a43a5572d9d6d13677eef215a0c854eaa"><td class="mdescLeft">&#160;</td><td class="mdescRight">Return an unique id for this model (SACMODEL_PARALLEL_LINE). <br /></td></tr>
<tr class="separator:a43a5572d9d6d13677eef215a0c854eaa"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pub_methods_classpcl_1_1_sample_consensus_model_line"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classpcl_1_1_sample_consensus_model_line')"><img src="closed.png" alt="-"/>&#160;Public 成员函数 继承自 <a class="el" href="classpcl_1_1_sample_consensus_model_line.html">pcl::SampleConsensusModelLine&lt; PointT &gt;</a></td></tr>
<tr class="memitem:a790ec0b14c1f834f1d5377999bfb0d6d inherit pub_methods_classpcl_1_1_sample_consensus_model_line"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_sample_consensus_model_line.html#a790ec0b14c1f834f1d5377999bfb0d6d">SampleConsensusModelLine</a> (const PointCloudConstPtr &amp;cloud, bool random=false)</td></tr>
<tr class="memdesc:a790ec0b14c1f834f1d5377999bfb0d6d inherit pub_methods_classpcl_1_1_sample_consensus_model_line"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor for base <a class="el" href="classpcl_1_1_sample_consensus_model_line.html" title="SampleConsensusModelLine defines a model for 3D line segmentation. The model coefficients are defined...">SampleConsensusModelLine</a>.  <a href="classpcl_1_1_sample_consensus_model_line.html#a790ec0b14c1f834f1d5377999bfb0d6d">更多...</a><br /></td></tr>
<tr class="separator:a790ec0b14c1f834f1d5377999bfb0d6d inherit pub_methods_classpcl_1_1_sample_consensus_model_line"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:abe1a6aab73b9d5674cccf1b042404975 inherit pub_methods_classpcl_1_1_sample_consensus_model_line"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_sample_consensus_model_line.html#abe1a6aab73b9d5674cccf1b042404975">SampleConsensusModelLine</a> (const PointCloudConstPtr &amp;cloud, const std::vector&lt; int &gt; &amp;indices, bool random=false)</td></tr>
<tr class="memdesc:abe1a6aab73b9d5674cccf1b042404975 inherit pub_methods_classpcl_1_1_sample_consensus_model_line"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor for base <a class="el" href="classpcl_1_1_sample_consensus_model_line.html" title="SampleConsensusModelLine defines a model for 3D line segmentation. The model coefficients are defined...">SampleConsensusModelLine</a>.  <a href="classpcl_1_1_sample_consensus_model_line.html#abe1a6aab73b9d5674cccf1b042404975">更多...</a><br /></td></tr>
<tr class="separator:abe1a6aab73b9d5674cccf1b042404975 inherit pub_methods_classpcl_1_1_sample_consensus_model_line"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aecf77e27258118a6db4b1290c99e72dc inherit pub_methods_classpcl_1_1_sample_consensus_model_line"><td class="memItemLeft" align="right" valign="top"><a id="aecf77e27258118a6db4b1290c99e72dc"></a>
virtual&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_sample_consensus_model_line.html#aecf77e27258118a6db4b1290c99e72dc">~SampleConsensusModelLine</a> ()</td></tr>
<tr class="memdesc:aecf77e27258118a6db4b1290c99e72dc inherit pub_methods_classpcl_1_1_sample_consensus_model_line"><td class="mdescLeft">&#160;</td><td class="mdescRight">Empty destructor <br /></td></tr>
<tr class="separator:aecf77e27258118a6db4b1290c99e72dc inherit pub_methods_classpcl_1_1_sample_consensus_model_line"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a2c09de6c3d95758f25c1942ac7a050f9 inherit pub_methods_classpcl_1_1_sample_consensus_model_line"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_sample_consensus_model_line.html#a2c09de6c3d95758f25c1942ac7a050f9">computeModelCoefficients</a> (const std::vector&lt; int &gt; &amp;samples, Eigen::VectorXf &amp;model_coefficients)</td></tr>
<tr class="memdesc:a2c09de6c3d95758f25c1942ac7a050f9 inherit pub_methods_classpcl_1_1_sample_consensus_model_line"><td class="mdescLeft">&#160;</td><td class="mdescRight">Check whether the given index samples can form a valid line model, compute the model coefficients from these samples and store them internally in model_coefficients_. The line coefficients are represented by a point and a line direction  <a href="classpcl_1_1_sample_consensus_model_line.html#a2c09de6c3d95758f25c1942ac7a050f9">更多...</a><br /></td></tr>
<tr class="separator:a2c09de6c3d95758f25c1942ac7a050f9 inherit pub_methods_classpcl_1_1_sample_consensus_model_line"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ad29efa5e1fc75c814612f5c4926233ef inherit pub_methods_classpcl_1_1_sample_consensus_model_line"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_sample_consensus_model_line.html#ad29efa5e1fc75c814612f5c4926233ef">optimizeModelCoefficients</a> (const std::vector&lt; int &gt; &amp;inliers, const Eigen::VectorXf &amp;model_coefficients, Eigen::VectorXf &amp;optimized_coefficients)</td></tr>
<tr class="memdesc:ad29efa5e1fc75c814612f5c4926233ef inherit pub_methods_classpcl_1_1_sample_consensus_model_line"><td class="mdescLeft">&#160;</td><td class="mdescRight">Recompute the line coefficients using the given inlier set and return them to the user.  <a href="classpcl_1_1_sample_consensus_model_line.html#ad29efa5e1fc75c814612f5c4926233ef">更多...</a><br /></td></tr>
<tr class="separator:ad29efa5e1fc75c814612f5c4926233ef inherit pub_methods_classpcl_1_1_sample_consensus_model_line"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:afc373efb74ec6e2c4761a5714b54b316 inherit pub_methods_classpcl_1_1_sample_consensus_model_line"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_sample_consensus_model_line.html#afc373efb74ec6e2c4761a5714b54b316">projectPoints</a> (const std::vector&lt; int &gt; &amp;inliers, const Eigen::VectorXf &amp;model_coefficients, <a class="el" href="classpcl_1_1_point_cloud.html">PointCloud</a> &amp;projected_points, bool copy_data_fields=true)</td></tr>
<tr class="memdesc:afc373efb74ec6e2c4761a5714b54b316 inherit pub_methods_classpcl_1_1_sample_consensus_model_line"><td class="mdescLeft">&#160;</td><td class="mdescRight">Create a new point cloud with inliers projected onto the line model.  <a href="classpcl_1_1_sample_consensus_model_line.html#afc373efb74ec6e2c4761a5714b54b316">更多...</a><br /></td></tr>
<tr class="separator:afc373efb74ec6e2c4761a5714b54b316 inherit pub_methods_classpcl_1_1_sample_consensus_model_line"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a46511a245836abd6d73fd924f2a4f285 inherit pub_methods_classpcl_1_1_sample_consensus_model_line"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_sample_consensus_model_line.html#a46511a245836abd6d73fd924f2a4f285">doSamplesVerifyModel</a> (const std::set&lt; int &gt; &amp;indices, const Eigen::VectorXf &amp;model_coefficients, const double threshold)</td></tr>
<tr class="memdesc:a46511a245836abd6d73fd924f2a4f285 inherit pub_methods_classpcl_1_1_sample_consensus_model_line"><td class="mdescLeft">&#160;</td><td class="mdescRight">Verify whether a subset of indices verifies the given line model coefficients.  <a href="classpcl_1_1_sample_consensus_model_line.html#a46511a245836abd6d73fd924f2a4f285">更多...</a><br /></td></tr>
<tr class="separator:a46511a245836abd6d73fd924f2a4f285 inherit pub_methods_classpcl_1_1_sample_consensus_model_line"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pub_methods_classpcl_1_1_sample_consensus_model"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classpcl_1_1_sample_consensus_model')"><img src="closed.png" alt="-"/>&#160;Public 成员函数 继承自 <a class="el" href="classpcl_1_1_sample_consensus_model.html">pcl::SampleConsensusModel&lt; PointT &gt;</a></td></tr>
<tr class="memitem:aa99d99ea0457237eca3b2f8e9a39022b inherit pub_methods_classpcl_1_1_sample_consensus_model"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_sample_consensus_model.html#aa99d99ea0457237eca3b2f8e9a39022b">SampleConsensusModel</a> (const PointCloudConstPtr &amp;cloud, bool random=false)</td></tr>
<tr class="memdesc:aa99d99ea0457237eca3b2f8e9a39022b inherit pub_methods_classpcl_1_1_sample_consensus_model"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor for base <a class="el" href="classpcl_1_1_sample_consensus_model.html" title="SampleConsensusModel represents the base model class. All sample consensus models must inherit from t...">SampleConsensusModel</a>.  <a href="classpcl_1_1_sample_consensus_model.html#aa99d99ea0457237eca3b2f8e9a39022b">更多...</a><br /></td></tr>
<tr class="separator:aa99d99ea0457237eca3b2f8e9a39022b inherit pub_methods_classpcl_1_1_sample_consensus_model"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a3fd6d364bc52a69c6aff54691975b7aa inherit pub_methods_classpcl_1_1_sample_consensus_model"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_sample_consensus_model.html#a3fd6d364bc52a69c6aff54691975b7aa">SampleConsensusModel</a> (const PointCloudConstPtr &amp;cloud, const std::vector&lt; int &gt; &amp;indices, bool random=false)</td></tr>
<tr class="memdesc:a3fd6d364bc52a69c6aff54691975b7aa inherit pub_methods_classpcl_1_1_sample_consensus_model"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor for base <a class="el" href="classpcl_1_1_sample_consensus_model.html" title="SampleConsensusModel represents the base model class. All sample consensus models must inherit from t...">SampleConsensusModel</a>.  <a href="classpcl_1_1_sample_consensus_model.html#a3fd6d364bc52a69c6aff54691975b7aa">更多...</a><br /></td></tr>
<tr class="separator:a3fd6d364bc52a69c6aff54691975b7aa inherit pub_methods_classpcl_1_1_sample_consensus_model"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a6fd82ae7fce7b90406608b8db249acd1 inherit pub_methods_classpcl_1_1_sample_consensus_model"><td class="memItemLeft" align="right" valign="top"><a id="a6fd82ae7fce7b90406608b8db249acd1"></a>
virtual&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_sample_consensus_model.html#a6fd82ae7fce7b90406608b8db249acd1">~SampleConsensusModel</a> ()</td></tr>
<tr class="memdesc:a6fd82ae7fce7b90406608b8db249acd1 inherit pub_methods_classpcl_1_1_sample_consensus_model"><td class="mdescLeft">&#160;</td><td class="mdescRight">Destructor for base <a class="el" href="classpcl_1_1_sample_consensus_model.html" title="SampleConsensusModel represents the base model class. All sample consensus models must inherit from t...">SampleConsensusModel</a>. <br /></td></tr>
<tr class="separator:a6fd82ae7fce7b90406608b8db249acd1 inherit pub_methods_classpcl_1_1_sample_consensus_model"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a2ae178816daf4f2c7af3a19d12324b77 inherit pub_methods_classpcl_1_1_sample_consensus_model"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_sample_consensus_model.html#a2ae178816daf4f2c7af3a19d12324b77">getSamples</a> (int &amp;iterations, std::vector&lt; int &gt; &amp;samples)</td></tr>
<tr class="memdesc:a2ae178816daf4f2c7af3a19d12324b77 inherit pub_methods_classpcl_1_1_sample_consensus_model"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get a set of random data samples and return them as point indices.  <a href="classpcl_1_1_sample_consensus_model.html#a2ae178816daf4f2c7af3a19d12324b77">更多...</a><br /></td></tr>
<tr class="separator:a2ae178816daf4f2c7af3a19d12324b77 inherit pub_methods_classpcl_1_1_sample_consensus_model"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aae3b06fbee5243f926d40f8115bd406c inherit pub_methods_classpcl_1_1_sample_consensus_model"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_sample_consensus_model.html#aae3b06fbee5243f926d40f8115bd406c">setInputCloud</a> (const PointCloudConstPtr &amp;cloud)</td></tr>
<tr class="memdesc:aae3b06fbee5243f926d40f8115bd406c inherit pub_methods_classpcl_1_1_sample_consensus_model"><td class="mdescLeft">&#160;</td><td class="mdescRight">Provide a pointer to the input dataset  <a href="classpcl_1_1_sample_consensus_model.html#aae3b06fbee5243f926d40f8115bd406c">更多...</a><br /></td></tr>
<tr class="separator:aae3b06fbee5243f926d40f8115bd406c inherit pub_methods_classpcl_1_1_sample_consensus_model"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a41226f6ed6de6db5ea190f265f520fc9 inherit pub_methods_classpcl_1_1_sample_consensus_model"><td class="memItemLeft" align="right" valign="top"><a id="a41226f6ed6de6db5ea190f265f520fc9"></a>
PointCloudConstPtr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_sample_consensus_model.html#a41226f6ed6de6db5ea190f265f520fc9">getInputCloud</a> () const</td></tr>
<tr class="memdesc:a41226f6ed6de6db5ea190f265f520fc9 inherit pub_methods_classpcl_1_1_sample_consensus_model"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get a pointer to the input point cloud dataset. <br /></td></tr>
<tr class="separator:a41226f6ed6de6db5ea190f265f520fc9 inherit pub_methods_classpcl_1_1_sample_consensus_model"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a4d9b6652b63eacd8c0ae1fb3a3eafa25 inherit pub_methods_classpcl_1_1_sample_consensus_model"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_sample_consensus_model.html#a4d9b6652b63eacd8c0ae1fb3a3eafa25">setIndices</a> (const boost::shared_ptr&lt; std::vector&lt; int &gt; &gt; &amp;indices)</td></tr>
<tr class="memdesc:a4d9b6652b63eacd8c0ae1fb3a3eafa25 inherit pub_methods_classpcl_1_1_sample_consensus_model"><td class="mdescLeft">&#160;</td><td class="mdescRight">Provide a pointer to the vector of indices that represents the input data.  <a href="classpcl_1_1_sample_consensus_model.html#a4d9b6652b63eacd8c0ae1fb3a3eafa25">更多...</a><br /></td></tr>
<tr class="separator:a4d9b6652b63eacd8c0ae1fb3a3eafa25 inherit pub_methods_classpcl_1_1_sample_consensus_model"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a6d23c173237ca4be1451182b9a84b3ac inherit pub_methods_classpcl_1_1_sample_consensus_model"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_sample_consensus_model.html#a6d23c173237ca4be1451182b9a84b3ac">setIndices</a> (const std::vector&lt; int &gt; &amp;indices)</td></tr>
<tr class="memdesc:a6d23c173237ca4be1451182b9a84b3ac inherit pub_methods_classpcl_1_1_sample_consensus_model"><td class="mdescLeft">&#160;</td><td class="mdescRight">Provide the vector of indices that represents the input data.  <a href="classpcl_1_1_sample_consensus_model.html#a6d23c173237ca4be1451182b9a84b3ac">更多...</a><br /></td></tr>
<tr class="separator:a6d23c173237ca4be1451182b9a84b3ac inherit pub_methods_classpcl_1_1_sample_consensus_model"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a7b59467495bbcc1e6ba1b69bbd6c4206 inherit pub_methods_classpcl_1_1_sample_consensus_model"><td class="memItemLeft" align="right" valign="top"><a id="a7b59467495bbcc1e6ba1b69bbd6c4206"></a>
boost::shared_ptr&lt; std::vector&lt; int &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_sample_consensus_model.html#a7b59467495bbcc1e6ba1b69bbd6c4206">getIndices</a> () const</td></tr>
<tr class="memdesc:a7b59467495bbcc1e6ba1b69bbd6c4206 inherit pub_methods_classpcl_1_1_sample_consensus_model"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get a pointer to the vector of indices used. <br /></td></tr>
<tr class="separator:a7b59467495bbcc1e6ba1b69bbd6c4206 inherit pub_methods_classpcl_1_1_sample_consensus_model"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a490884cb22bfa92325111bd5be0bbe96 inherit pub_methods_classpcl_1_1_sample_consensus_model"><td class="memItemLeft" align="right" valign="top"><a id="a490884cb22bfa92325111bd5be0bbe96"></a>
const std::string &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_sample_consensus_model.html#a490884cb22bfa92325111bd5be0bbe96">getClassName</a> () const</td></tr>
<tr class="memdesc:a490884cb22bfa92325111bd5be0bbe96 inherit pub_methods_classpcl_1_1_sample_consensus_model"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get a string representation of the name of this class. <br /></td></tr>
<tr class="separator:a490884cb22bfa92325111bd5be0bbe96 inherit pub_methods_classpcl_1_1_sample_consensus_model"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aff175b4323080fe1a3ca98a76ca4da46 inherit pub_methods_classpcl_1_1_sample_consensus_model"><td class="memItemLeft" align="right" valign="top"><a id="aff175b4323080fe1a3ca98a76ca4da46"></a>
unsigned int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_sample_consensus_model.html#aff175b4323080fe1a3ca98a76ca4da46">getSampleSize</a> () const</td></tr>
<tr class="memdesc:aff175b4323080fe1a3ca98a76ca4da46 inherit pub_methods_classpcl_1_1_sample_consensus_model"><td class="mdescLeft">&#160;</td><td class="mdescRight">Return the size of a sample from which the model is computed. <br /></td></tr>
<tr class="separator:aff175b4323080fe1a3ca98a76ca4da46 inherit pub_methods_classpcl_1_1_sample_consensus_model"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a35884d269a39055c962b24d1db5fa97d inherit pub_methods_classpcl_1_1_sample_consensus_model"><td class="memItemLeft" align="right" valign="top"><a id="a35884d269a39055c962b24d1db5fa97d"></a>
unsigned int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_sample_consensus_model.html#a35884d269a39055c962b24d1db5fa97d">getModelSize</a> () const</td></tr>
<tr class="memdesc:a35884d269a39055c962b24d1db5fa97d inherit pub_methods_classpcl_1_1_sample_consensus_model"><td class="mdescLeft">&#160;</td><td class="mdescRight">Return the number of coefficients in the model. <br /></td></tr>
<tr class="separator:a35884d269a39055c962b24d1db5fa97d inherit pub_methods_classpcl_1_1_sample_consensus_model"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a3ed94271a12d7903c0bee9091e9a8f95 inherit pub_methods_classpcl_1_1_sample_consensus_model"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_sample_consensus_model.html#a3ed94271a12d7903c0bee9091e9a8f95">setRadiusLimits</a> (const double &amp;min_radius, const double &amp;max_radius)</td></tr>
<tr class="memdesc:a3ed94271a12d7903c0bee9091e9a8f95 inherit pub_methods_classpcl_1_1_sample_consensus_model"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the minimum and maximum allowable radius limits for the model (applicable to models that estimate a radius)  <a href="classpcl_1_1_sample_consensus_model.html#a3ed94271a12d7903c0bee9091e9a8f95">更多...</a><br /></td></tr>
<tr class="separator:a3ed94271a12d7903c0bee9091e9a8f95 inherit pub_methods_classpcl_1_1_sample_consensus_model"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:acff95be7097cf723a598d3b28e828487 inherit pub_methods_classpcl_1_1_sample_consensus_model"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_sample_consensus_model.html#acff95be7097cf723a598d3b28e828487">getRadiusLimits</a> (double &amp;min_radius, double &amp;max_radius)</td></tr>
<tr class="memdesc:acff95be7097cf723a598d3b28e828487 inherit pub_methods_classpcl_1_1_sample_consensus_model"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the minimum and maximum allowable radius limits for the model as set by the user.  <a href="classpcl_1_1_sample_consensus_model.html#acff95be7097cf723a598d3b28e828487">更多...</a><br /></td></tr>
<tr class="separator:acff95be7097cf723a598d3b28e828487 inherit pub_methods_classpcl_1_1_sample_consensus_model"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:af9eea9dd0e12e1de8671ac542400d3f1 inherit pub_methods_classpcl_1_1_sample_consensus_model"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_sample_consensus_model.html#af9eea9dd0e12e1de8671ac542400d3f1">setSamplesMaxDist</a> (const double &amp;radius, SearchPtr search)</td></tr>
<tr class="memdesc:af9eea9dd0e12e1de8671ac542400d3f1 inherit pub_methods_classpcl_1_1_sample_consensus_model"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the maximum distance allowed when drawing random samples  <a href="classpcl_1_1_sample_consensus_model.html#af9eea9dd0e12e1de8671ac542400d3f1">更多...</a><br /></td></tr>
<tr class="separator:af9eea9dd0e12e1de8671ac542400d3f1 inherit pub_methods_classpcl_1_1_sample_consensus_model"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a1aebacea0f2bdd7529f48f739f11c6c0 inherit pub_methods_classpcl_1_1_sample_consensus_model"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_sample_consensus_model.html#a1aebacea0f2bdd7529f48f739f11c6c0">getSamplesMaxDist</a> (double &amp;radius)</td></tr>
<tr class="memdesc:a1aebacea0f2bdd7529f48f739f11c6c0 inherit pub_methods_classpcl_1_1_sample_consensus_model"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get maximum distance allowed when drawing random samples  <a href="classpcl_1_1_sample_consensus_model.html#a1aebacea0f2bdd7529f48f739f11c6c0">更多...</a><br /></td></tr>
<tr class="separator:a1aebacea0f2bdd7529f48f739f11c6c0 inherit pub_methods_classpcl_1_1_sample_consensus_model"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a2ac96856f60671f5d56be00a174963a8 inherit pub_methods_classpcl_1_1_sample_consensus_model"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_sample_consensus_model.html#a2ac96856f60671f5d56be00a174963a8">computeVariance</a> (const std::vector&lt; double &gt; &amp;error_sqr_dists)</td></tr>
<tr class="memdesc:a2ac96856f60671f5d56be00a174963a8 inherit pub_methods_classpcl_1_1_sample_consensus_model"><td class="mdescLeft">&#160;</td><td class="mdescRight">Compute the variance of the errors to the model.  <a href="classpcl_1_1_sample_consensus_model.html#a2ac96856f60671f5d56be00a174963a8">更多...</a><br /></td></tr>
<tr class="separator:a2ac96856f60671f5d56be00a174963a8 inherit pub_methods_classpcl_1_1_sample_consensus_model"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ad3de5bb66de04a4f0b3bc014a0676d48 inherit pub_methods_classpcl_1_1_sample_consensus_model"><td class="memItemLeft" align="right" valign="top"><a id="ad3de5bb66de04a4f0b3bc014a0676d48"></a>
double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_sample_consensus_model.html#ad3de5bb66de04a4f0b3bc014a0676d48">computeVariance</a> ()</td></tr>
<tr class="memdesc:ad3de5bb66de04a4f0b3bc014a0676d48 inherit pub_methods_classpcl_1_1_sample_consensus_model"><td class="mdescLeft">&#160;</td><td class="mdescRight">Compute the variance of the errors to the model from the internally estimated vector of distances. The model must be computed first (or at least selectWithinDistance must be called). <br /></td></tr>
<tr class="separator:ad3de5bb66de04a4f0b3bc014a0676d48 inherit pub_methods_classpcl_1_1_sample_consensus_model"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pro-methods"></a>
Protected 成员函数</h2></td></tr>
<tr class="memitem:a764e15f742e8cd40199039b39fc9f802"><td class="memItemLeft" align="right" valign="top">virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_sample_consensus_model_parallel_line.html#a764e15f742e8cd40199039b39fc9f802">isModelValid</a> (const Eigen::VectorXf &amp;model_coefficients)</td></tr>
<tr class="memdesc:a764e15f742e8cd40199039b39fc9f802"><td class="mdescLeft">&#160;</td><td class="mdescRight">Check whether a model is valid given the user constraints.  <a href="classpcl_1_1_sample_consensus_model_parallel_line.html#a764e15f742e8cd40199039b39fc9f802">更多...</a><br /></td></tr>
<tr class="separator:a764e15f742e8cd40199039b39fc9f802"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pro_methods_classpcl_1_1_sample_consensus_model_line"><td colspan="2" onclick="javascript:toggleInherit('pro_methods_classpcl_1_1_sample_consensus_model_line')"><img src="closed.png" alt="-"/>&#160;Protected 成员函数 继承自 <a class="el" href="classpcl_1_1_sample_consensus_model_line.html">pcl::SampleConsensusModelLine&lt; PointT &gt;</a></td></tr>
<tr class="memitem:aafc02bea3d135d035c3304ddb7bf694b inherit pro_methods_classpcl_1_1_sample_consensus_model_line"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_sample_consensus_model_line.html#aafc02bea3d135d035c3304ddb7bf694b">isSampleGood</a> (const std::vector&lt; int &gt; &amp;samples) const</td></tr>
<tr class="memdesc:aafc02bea3d135d035c3304ddb7bf694b inherit pro_methods_classpcl_1_1_sample_consensus_model_line"><td class="mdescLeft">&#160;</td><td class="mdescRight">Check if a sample of indices results in a good sample of points indices.  <a href="classpcl_1_1_sample_consensus_model_line.html#aafc02bea3d135d035c3304ddb7bf694b">更多...</a><br /></td></tr>
<tr class="separator:aafc02bea3d135d035c3304ddb7bf694b inherit pro_methods_classpcl_1_1_sample_consensus_model_line"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pro_methods_classpcl_1_1_sample_consensus_model"><td colspan="2" onclick="javascript:toggleInherit('pro_methods_classpcl_1_1_sample_consensus_model')"><img src="closed.png" alt="-"/>&#160;Protected 成员函数 继承自 <a class="el" href="classpcl_1_1_sample_consensus_model.html">pcl::SampleConsensusModel&lt; PointT &gt;</a></td></tr>
<tr class="memitem:a910f3f0d75a6c2bf8bc4a9c43df825ce inherit pro_methods_classpcl_1_1_sample_consensus_model"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_sample_consensus_model.html#a910f3f0d75a6c2bf8bc4a9c43df825ce">SampleConsensusModel</a> (bool random=false)</td></tr>
<tr class="memdesc:a910f3f0d75a6c2bf8bc4a9c43df825ce inherit pro_methods_classpcl_1_1_sample_consensus_model"><td class="mdescLeft">&#160;</td><td class="mdescRight">Empty constructor for base <a class="el" href="classpcl_1_1_sample_consensus_model.html" title="SampleConsensusModel represents the base model class. All sample consensus models must inherit from t...">SampleConsensusModel</a>.  <a href="classpcl_1_1_sample_consensus_model.html#a910f3f0d75a6c2bf8bc4a9c43df825ce">更多...</a><br /></td></tr>
<tr class="separator:a910f3f0d75a6c2bf8bc4a9c43df825ce inherit pro_methods_classpcl_1_1_sample_consensus_model"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a2f687798633c8e702568aea8d68b2bec inherit pro_methods_classpcl_1_1_sample_consensus_model"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_sample_consensus_model.html#a2f687798633c8e702568aea8d68b2bec">drawIndexSample</a> (std::vector&lt; int &gt; &amp;sample)</td></tr>
<tr class="memdesc:a2f687798633c8e702568aea8d68b2bec inherit pro_methods_classpcl_1_1_sample_consensus_model"><td class="mdescLeft">&#160;</td><td class="mdescRight">Fills a sample array with random samples from the indices_ vector  <a href="classpcl_1_1_sample_consensus_model.html#a2f687798633c8e702568aea8d68b2bec">更多...</a><br /></td></tr>
<tr class="separator:a2f687798633c8e702568aea8d68b2bec inherit pro_methods_classpcl_1_1_sample_consensus_model"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a94696e418be704a4443b031ca18bc298 inherit pro_methods_classpcl_1_1_sample_consensus_model"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_sample_consensus_model.html#a94696e418be704a4443b031ca18bc298">drawIndexSampleRadius</a> (std::vector&lt; int &gt; &amp;sample)</td></tr>
<tr class="memdesc:a94696e418be704a4443b031ca18bc298 inherit pro_methods_classpcl_1_1_sample_consensus_model"><td class="mdescLeft">&#160;</td><td class="mdescRight">Fills a sample array with one random sample from the indices_ vector and other random samples that are closer than samples_radius_  <a href="classpcl_1_1_sample_consensus_model.html#a94696e418be704a4443b031ca18bc298">更多...</a><br /></td></tr>
<tr class="separator:a94696e418be704a4443b031ca18bc298 inherit pro_methods_classpcl_1_1_sample_consensus_model"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ab8b77e6a4edb210c2ddaca923ac8470a inherit pro_methods_classpcl_1_1_sample_consensus_model"><td class="memItemLeft" align="right" valign="top"><a id="ab8b77e6a4edb210c2ddaca923ac8470a"></a>
int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_sample_consensus_model.html#ab8b77e6a4edb210c2ddaca923ac8470a">rnd</a> ()</td></tr>
<tr class="memdesc:ab8b77e6a4edb210c2ddaca923ac8470a inherit pro_methods_classpcl_1_1_sample_consensus_model"><td class="mdescLeft">&#160;</td><td class="mdescRight">Boost-based random number generator. <br /></td></tr>
<tr class="separator:ab8b77e6a4edb210c2ddaca923ac8470a inherit pro_methods_classpcl_1_1_sample_consensus_model"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pro-attribs"></a>
Protected 属性</h2></td></tr>
<tr class="memitem:ab6b784039fec46f8f32001d6b093df25"><td class="memItemLeft" align="right" valign="top"><a id="ab6b784039fec46f8f32001d6b093df25"></a>
Eigen::Vector3f&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_sample_consensus_model_parallel_line.html#ab6b784039fec46f8f32001d6b093df25">axis_</a></td></tr>
<tr class="memdesc:ab6b784039fec46f8f32001d6b093df25"><td class="mdescLeft">&#160;</td><td class="mdescRight">The axis along which we need to search for a line. <br /></td></tr>
<tr class="separator:ab6b784039fec46f8f32001d6b093df25"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a936ed492f86974639b82de8dc20e710e"><td class="memItemLeft" align="right" valign="top"><a id="a936ed492f86974639b82de8dc20e710e"></a>
double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_sample_consensus_model_parallel_line.html#a936ed492f86974639b82de8dc20e710e">eps_angle_</a></td></tr>
<tr class="memdesc:a936ed492f86974639b82de8dc20e710e"><td class="mdescLeft">&#160;</td><td class="mdescRight">The maximum allowed difference between the line direction and the given axis. <br /></td></tr>
<tr class="separator:a936ed492f86974639b82de8dc20e710e"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pro_attribs_classpcl_1_1_sample_consensus_model"><td colspan="2" onclick="javascript:toggleInherit('pro_attribs_classpcl_1_1_sample_consensus_model')"><img src="closed.png" alt="-"/>&#160;Protected 属性 继承自 <a class="el" href="classpcl_1_1_sample_consensus_model.html">pcl::SampleConsensusModel&lt; PointT &gt;</a></td></tr>
<tr class="memitem:ab10fd6af7c7ab78040d4f638a572943f inherit pro_attribs_classpcl_1_1_sample_consensus_model"><td class="memItemLeft" align="right" valign="top"><a id="ab10fd6af7c7ab78040d4f638a572943f"></a>
std::string&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_sample_consensus_model.html#ab10fd6af7c7ab78040d4f638a572943f">model_name_</a></td></tr>
<tr class="memdesc:ab10fd6af7c7ab78040d4f638a572943f inherit pro_attribs_classpcl_1_1_sample_consensus_model"><td class="mdescLeft">&#160;</td><td class="mdescRight">The model name. <br /></td></tr>
<tr class="separator:ab10fd6af7c7ab78040d4f638a572943f inherit pro_attribs_classpcl_1_1_sample_consensus_model"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a7bffa6777a49f1c461ee8e0960bbec01 inherit pro_attribs_classpcl_1_1_sample_consensus_model"><td class="memItemLeft" align="right" valign="top"><a id="a7bffa6777a49f1c461ee8e0960bbec01"></a>
PointCloudConstPtr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_sample_consensus_model.html#a7bffa6777a49f1c461ee8e0960bbec01">input_</a></td></tr>
<tr class="memdesc:a7bffa6777a49f1c461ee8e0960bbec01 inherit pro_attribs_classpcl_1_1_sample_consensus_model"><td class="mdescLeft">&#160;</td><td class="mdescRight">A boost shared pointer to the point cloud data array. <br /></td></tr>
<tr class="separator:a7bffa6777a49f1c461ee8e0960bbec01 inherit pro_attribs_classpcl_1_1_sample_consensus_model"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ad45adf0e36f396a908c2ba08cfdd7a41 inherit pro_attribs_classpcl_1_1_sample_consensus_model"><td class="memItemLeft" align="right" valign="top"><a id="ad45adf0e36f396a908c2ba08cfdd7a41"></a>
boost::shared_ptr&lt; std::vector&lt; int &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_sample_consensus_model.html#ad45adf0e36f396a908c2ba08cfdd7a41">indices_</a></td></tr>
<tr class="memdesc:ad45adf0e36f396a908c2ba08cfdd7a41 inherit pro_attribs_classpcl_1_1_sample_consensus_model"><td class="mdescLeft">&#160;</td><td class="mdescRight">A pointer to the vector of point indices to use. <br /></td></tr>
<tr class="separator:ad45adf0e36f396a908c2ba08cfdd7a41 inherit pro_attribs_classpcl_1_1_sample_consensus_model"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a3e4708339fa0bc73aac513ddb1891a18 inherit pro_attribs_classpcl_1_1_sample_consensus_model"><td class="memItemLeft" align="right" valign="top"><a id="a3e4708339fa0bc73aac513ddb1891a18"></a>
double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_sample_consensus_model.html#a3e4708339fa0bc73aac513ddb1891a18">radius_min_</a></td></tr>
<tr class="memdesc:a3e4708339fa0bc73aac513ddb1891a18 inherit pro_attribs_classpcl_1_1_sample_consensus_model"><td class="mdescLeft">&#160;</td><td class="mdescRight">The minimum and maximum radius limits for the model. Applicable to all models that estimate a radius. <br /></td></tr>
<tr class="separator:a3e4708339fa0bc73aac513ddb1891a18 inherit pro_attribs_classpcl_1_1_sample_consensus_model"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a0e6cdd749083398f532e2e2e3e22d544 inherit pro_attribs_classpcl_1_1_sample_consensus_model"><td class="memItemLeft" align="right" valign="top"><a id="a0e6cdd749083398f532e2e2e3e22d544"></a>
double&#160;</td><td class="memItemRight" valign="bottom"><b>radius_max_</b></td></tr>
<tr class="separator:a0e6cdd749083398f532e2e2e3e22d544 inherit pro_attribs_classpcl_1_1_sample_consensus_model"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aab89218101a313d2aa8adcaf6991f73b inherit pro_attribs_classpcl_1_1_sample_consensus_model"><td class="memItemLeft" align="right" valign="top"><a id="aab89218101a313d2aa8adcaf6991f73b"></a>
double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_sample_consensus_model.html#aab89218101a313d2aa8adcaf6991f73b">samples_radius_</a></td></tr>
<tr class="memdesc:aab89218101a313d2aa8adcaf6991f73b inherit pro_attribs_classpcl_1_1_sample_consensus_model"><td class="mdescLeft">&#160;</td><td class="mdescRight">The maximum distance of subsequent samples from the first (radius search) <br /></td></tr>
<tr class="separator:aab89218101a313d2aa8adcaf6991f73b inherit pro_attribs_classpcl_1_1_sample_consensus_model"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a4b939f4747b5d6e12b03148a680380c3 inherit pro_attribs_classpcl_1_1_sample_consensus_model"><td class="memItemLeft" align="right" valign="top"><a id="a4b939f4747b5d6e12b03148a680380c3"></a>
SearchPtr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_sample_consensus_model.html#a4b939f4747b5d6e12b03148a680380c3">samples_radius_search_</a></td></tr>
<tr class="memdesc:a4b939f4747b5d6e12b03148a680380c3 inherit pro_attribs_classpcl_1_1_sample_consensus_model"><td class="mdescLeft">&#160;</td><td class="mdescRight">The search object for picking subsequent samples using radius search <br /></td></tr>
<tr class="separator:a4b939f4747b5d6e12b03148a680380c3 inherit pro_attribs_classpcl_1_1_sample_consensus_model"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a9b8317cdaac5ccc14e822135d4e97dc1 inherit pro_attribs_classpcl_1_1_sample_consensus_model"><td class="memItemLeft" align="right" valign="top">std::vector&lt; int &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_sample_consensus_model.html#a9b8317cdaac5ccc14e822135d4e97dc1">shuffled_indices_</a></td></tr>
<tr class="separator:a9b8317cdaac5ccc14e822135d4e97dc1 inherit pro_attribs_classpcl_1_1_sample_consensus_model"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a73e9fb74bbe6ba122781c42913618756 inherit pro_attribs_classpcl_1_1_sample_consensus_model"><td class="memItemLeft" align="right" valign="top"><a id="a73e9fb74bbe6ba122781c42913618756"></a>
boost::mt19937&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_sample_consensus_model.html#a73e9fb74bbe6ba122781c42913618756">rng_alg_</a></td></tr>
<tr class="memdesc:a73e9fb74bbe6ba122781c42913618756 inherit pro_attribs_classpcl_1_1_sample_consensus_model"><td class="mdescLeft">&#160;</td><td class="mdescRight">Boost-based random number generator algorithm. <br /></td></tr>
<tr class="separator:a73e9fb74bbe6ba122781c42913618756 inherit pro_attribs_classpcl_1_1_sample_consensus_model"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a81041dab94f5b0a5644697a12c4b9351 inherit pro_attribs_classpcl_1_1_sample_consensus_model"><td class="memItemLeft" align="right" valign="top"><a id="a81041dab94f5b0a5644697a12c4b9351"></a>
boost::shared_ptr&lt; boost::uniform_int&lt;&gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_sample_consensus_model.html#a81041dab94f5b0a5644697a12c4b9351">rng_dist_</a></td></tr>
<tr class="memdesc:a81041dab94f5b0a5644697a12c4b9351 inherit pro_attribs_classpcl_1_1_sample_consensus_model"><td class="mdescLeft">&#160;</td><td class="mdescRight">Boost-based random number generator distribution. <br /></td></tr>
<tr class="separator:a81041dab94f5b0a5644697a12c4b9351 inherit pro_attribs_classpcl_1_1_sample_consensus_model"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a7c57e94b06912d8bbf472667ba9940db inherit pro_attribs_classpcl_1_1_sample_consensus_model"><td class="memItemLeft" align="right" valign="top"><a id="a7c57e94b06912d8bbf472667ba9940db"></a>
boost::shared_ptr&lt; boost::variate_generator&lt; boost::mt19937 &amp;, boost::uniform_int&lt;&gt; &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_sample_consensus_model.html#a7c57e94b06912d8bbf472667ba9940db">rng_gen_</a></td></tr>
<tr class="memdesc:a7c57e94b06912d8bbf472667ba9940db inherit pro_attribs_classpcl_1_1_sample_consensus_model"><td class="mdescLeft">&#160;</td><td class="mdescRight">Boost-based random number generator. <br /></td></tr>
<tr class="separator:a7c57e94b06912d8bbf472667ba9940db inherit pro_attribs_classpcl_1_1_sample_consensus_model"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:af526982856012edcfa78ffc0fd589f97 inherit pro_attribs_classpcl_1_1_sample_consensus_model"><td class="memItemLeft" align="right" valign="top"><a id="af526982856012edcfa78ffc0fd589f97"></a>
std::vector&lt; double &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_sample_consensus_model.html#af526982856012edcfa78ffc0fd589f97">error_sqr_dists_</a></td></tr>
<tr class="memdesc:af526982856012edcfa78ffc0fd589f97 inherit pro_attribs_classpcl_1_1_sample_consensus_model"><td class="mdescLeft">&#160;</td><td class="mdescRight">A vector holding the distances to the computed model. Used internally. <br /></td></tr>
<tr class="separator:af526982856012edcfa78ffc0fd589f97 inherit pro_attribs_classpcl_1_1_sample_consensus_model"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a64854cad238a0583093c446dc295f245 inherit pro_attribs_classpcl_1_1_sample_consensus_model"><td class="memItemLeft" align="right" valign="top"><a id="a64854cad238a0583093c446dc295f245"></a>
unsigned int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_sample_consensus_model.html#a64854cad238a0583093c446dc295f245">sample_size_</a></td></tr>
<tr class="memdesc:a64854cad238a0583093c446dc295f245 inherit pro_attribs_classpcl_1_1_sample_consensus_model"><td class="mdescLeft">&#160;</td><td class="mdescRight">The size of a sample from which the model is computed. Every subclass should initialize this appropriately. <br /></td></tr>
<tr class="separator:a64854cad238a0583093c446dc295f245 inherit pro_attribs_classpcl_1_1_sample_consensus_model"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ab7f51bf1c63fcfb05694d0f19c2f7dc3 inherit pro_attribs_classpcl_1_1_sample_consensus_model"><td class="memItemLeft" align="right" valign="top"><a id="ab7f51bf1c63fcfb05694d0f19c2f7dc3"></a>
unsigned int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_sample_consensus_model.html#ab7f51bf1c63fcfb05694d0f19c2f7dc3">model_size_</a></td></tr>
<tr class="memdesc:ab7f51bf1c63fcfb05694d0f19c2f7dc3 inherit pro_attribs_classpcl_1_1_sample_consensus_model"><td class="mdescLeft">&#160;</td><td class="mdescRight">The number of coefficients in the model. Every subclass should initialize this appropriately. <br /></td></tr>
<tr class="separator:ab7f51bf1c63fcfb05694d0f19c2f7dc3 inherit pro_attribs_classpcl_1_1_sample_consensus_model"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="inherited"></a>
额外继承的成员函数</h2></td></tr>
<tr class="inherit_header pro_static_attribs_classpcl_1_1_sample_consensus_model"><td colspan="2" onclick="javascript:toggleInherit('pro_static_attribs_classpcl_1_1_sample_consensus_model')"><img src="closed.png" alt="-"/>&#160;静态 Protected 属性 继承自 <a class="el" href="classpcl_1_1_sample_consensus_model.html">pcl::SampleConsensusModel&lt; PointT &gt;</a></td></tr>
<tr class="memitem:a19d4a467b5c0cd6267e6282ac0a2cf8c inherit pro_static_attribs_classpcl_1_1_sample_consensus_model"><td class="memItemLeft" align="right" valign="top">static const unsigned int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_sample_consensus_model.html#a19d4a467b5c0cd6267e6282ac0a2cf8c">max_sample_checks_</a> = 1000</td></tr>
<tr class="separator:a19d4a467b5c0cd6267e6282ac0a2cf8c inherit pro_static_attribs_classpcl_1_1_sample_consensus_model"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table>
<a name="details" id="details"></a><h2 class="groupheader">详细描述</h2>
<div class="textblock"><h3>template&lt;typename PointT&gt;<br />
class pcl::SampleConsensusModelParallelLine&lt; PointT &gt;</h3>

<p><a class="el" href="classpcl_1_1_sample_consensus_model_parallel_line.html" title="SampleConsensusModelParallelLine defines a model for 3D line segmentation using additional angular co...">SampleConsensusModelParallelLine</a> defines a model for 3D line segmentation using additional angular constraints. </p>
<p>Checking for inliers will not only involve a "distance to model" criterion, but also an additional "maximum
angular deviation" between the line's direction and a user-specified axis.</p>
<p>The model coefficients are defined as:</p><ul>
<li><b>point_on_line.x</b> : the X coordinate of a point on the line</li>
<li><b>point_on_line.y</b> : the Y coordinate of a point on the line</li>
<li><b>point_on_line.z</b> : the Z coordinate of a point on the line</li>
<li><b>line_direction.x</b> : the X coordinate of a line's direction</li>
<li><b>line_direction.y</b> : the Y coordinate of a line's direction</li>
<li><b>line_direction.z</b> : the Z coordinate of a line's direction</li>
</ul>
<dl class="section author"><dt>作者</dt><dd>Radu B. Rusu </dd></dl>
</div><h2 class="groupheader">构造及析构函数说明</h2>
<a id="af4f90cb7fd928b447296a722d6fa6cc9"></a>
<h2 class="memtitle"><span class="permalink"><a href="#af4f90cb7fd928b447296a722d6fa6cc9">&#9670;&nbsp;</a></span>SampleConsensusModelParallelLine() <span class="overload">[1/2]</span></h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointT &gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname"><a class="el" href="classpcl_1_1_sample_consensus_model_parallel_line.html">pcl::SampleConsensusModelParallelLine</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::<a class="el" href="classpcl_1_1_sample_consensus_model_parallel_line.html">SampleConsensusModelParallelLine</a> </td>
          <td>(</td>
          <td class="paramtype">const PointCloudConstPtr &amp;&#160;</td>
          <td class="paramname"><em>cloud</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">bool&#160;</td>
          <td class="paramname"><em>random</em> = <code>false</code>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Constructor for base <a class="el" href="classpcl_1_1_sample_consensus_model_parallel_line.html" title="SampleConsensusModelParallelLine defines a model for 3D line segmentation using additional angular co...">SampleConsensusModelParallelLine</a>. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">cloud</td><td>the input point cloud dataset </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">random</td><td>if true set the random seed to the current time, else set to 12345 (default: false) </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;        : SampleConsensusModelLine&lt;PointT&gt; (cloud, random)</div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;        , <a class="code" href="classpcl_1_1_sample_consensus_model_parallel_line.html#ab6b784039fec46f8f32001d6b093df25">axis_</a> (Eigen::Vector3f::Zero ())</div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;        , <a class="code" href="classpcl_1_1_sample_consensus_model_parallel_line.html#a936ed492f86974639b82de8dc20e710e">eps_angle_</a> (0.0)</div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;      {</div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;        <a class="code" href="classpcl_1_1_sample_consensus_model.html#ab10fd6af7c7ab78040d4f638a572943f">model_name_</a> = <span class="stringliteral">&quot;SampleConsensusModelParallelLine&quot;</span>;</div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;        <a class="code" href="classpcl_1_1_sample_consensus_model.html#a64854cad238a0583093c446dc295f245">sample_size_</a> = 2;</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;        <a class="code" href="classpcl_1_1_sample_consensus_model.html#ab7f51bf1c63fcfb05694d0f19c2f7dc3">model_size_</a> = 6;</div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;      }</div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_model_html_a64854cad238a0583093c446dc295f245"><div class="ttname"><a href="classpcl_1_1_sample_consensus_model.html#a64854cad238a0583093c446dc295f245">pcl::SampleConsensusModel::sample_size_</a></div><div class="ttdeci">unsigned int sample_size_</div><div class="ttdoc">The size of a sample from which the model is computed. Every subclass should initialize this appropri...</div><div class="ttdef"><b>Definition:</b> sac_model.h:572</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_model_html_ab10fd6af7c7ab78040d4f638a572943f"><div class="ttname"><a href="classpcl_1_1_sample_consensus_model.html#ab10fd6af7c7ab78040d4f638a572943f">pcl::SampleConsensusModel::model_name_</a></div><div class="ttdeci">std::string model_name_</div><div class="ttdoc">The model name.</div><div class="ttdef"><b>Definition:</b> sac_model.h:534</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_model_html_ab7f51bf1c63fcfb05694d0f19c2f7dc3"><div class="ttname"><a href="classpcl_1_1_sample_consensus_model.html#ab7f51bf1c63fcfb05694d0f19c2f7dc3">pcl::SampleConsensusModel::model_size_</a></div><div class="ttdeci">unsigned int model_size_</div><div class="ttdoc">The number of coefficients in the model. Every subclass should initialize this appropriately.</div><div class="ttdef"><b>Definition:</b> sac_model.h:575</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_model_parallel_line_html_a936ed492f86974639b82de8dc20e710e"><div class="ttname"><a href="classpcl_1_1_sample_consensus_model_parallel_line.html#a936ed492f86974639b82de8dc20e710e">pcl::SampleConsensusModelParallelLine::eps_angle_</a></div><div class="ttdeci">double eps_angle_</div><div class="ttdoc">The maximum allowed difference between the line direction and the given axis.</div><div class="ttdef"><b>Definition:</b> sac_model_parallel_line.h:177</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_model_parallel_line_html_ab6b784039fec46f8f32001d6b093df25"><div class="ttname"><a href="classpcl_1_1_sample_consensus_model_parallel_line.html#ab6b784039fec46f8f32001d6b093df25">pcl::SampleConsensusModelParallelLine::axis_</a></div><div class="ttdeci">Eigen::Vector3f axis_</div><div class="ttdoc">The axis along which we need to search for a line.</div><div class="ttdef"><b>Definition:</b> sac_model_parallel_line.h:174</div></div>
</div><!-- fragment -->
</div>
</div>
<a id="af8b26a5c1066b7158f6c9ac6d3b7bfa3"></a>
<h2 class="memtitle"><span class="permalink"><a href="#af8b26a5c1066b7158f6c9ac6d3b7bfa3">&#9670;&nbsp;</a></span>SampleConsensusModelParallelLine() <span class="overload">[2/2]</span></h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointT &gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname"><a class="el" href="classpcl_1_1_sample_consensus_model_parallel_line.html">pcl::SampleConsensusModelParallelLine</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::<a class="el" href="classpcl_1_1_sample_consensus_model_parallel_line.html">SampleConsensusModelParallelLine</a> </td>
          <td>(</td>
          <td class="paramtype">const PointCloudConstPtr &amp;&#160;</td>
          <td class="paramname"><em>cloud</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const std::vector&lt; int &gt; &amp;&#160;</td>
          <td class="paramname"><em>indices</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">bool&#160;</td>
          <td class="paramname"><em>random</em> = <code>false</code>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Constructor for base <a class="el" href="classpcl_1_1_sample_consensus_model_parallel_line.html" title="SampleConsensusModelParallelLine defines a model for 3D line segmentation using additional angular co...">SampleConsensusModelParallelLine</a>. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">cloud</td><td>the input point cloud dataset </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">indices</td><td>a vector of point indices to be used from <em>cloud</em> </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">random</td><td>if true set the random seed to the current time, else set to 12345 (default: false) </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;        : SampleConsensusModelLine&lt;PointT&gt; (cloud, indices, random)</div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;        , <a class="code" href="classpcl_1_1_sample_consensus_model_parallel_line.html#ab6b784039fec46f8f32001d6b093df25">axis_</a> (Eigen::Vector3f::Zero ())</div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;        , <a class="code" href="classpcl_1_1_sample_consensus_model_parallel_line.html#a936ed492f86974639b82de8dc20e710e">eps_angle_</a> (0.0)</div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;      {</div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;        <a class="code" href="classpcl_1_1_sample_consensus_model.html#ab10fd6af7c7ab78040d4f638a572943f">model_name_</a> = <span class="stringliteral">&quot;SampleConsensusModelParallelLine&quot;</span>;</div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;        <a class="code" href="classpcl_1_1_sample_consensus_model.html#a64854cad238a0583093c446dc295f245">sample_size_</a> = 2;</div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;        <a class="code" href="classpcl_1_1_sample_consensus_model.html#ab7f51bf1c63fcfb05694d0f19c2f7dc3">model_size_</a> = 6;</div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;      }</div>
</div><!-- fragment -->
</div>
</div>
<h2 class="groupheader">成员函数说明</h2>
<a id="af0ead11670ea3b23befc3f6d8de20191"></a>
<h2 class="memtitle"><span class="permalink"><a href="#af0ead11670ea3b23befc3f6d8de20191">&#9670;&nbsp;</a></span>countWithinDistance()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointT &gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">int <a class="el" href="classpcl_1_1_sample_consensus_model_parallel_line.html">pcl::SampleConsensusModelParallelLine</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::countWithinDistance </td>
          <td>(</td>
          <td class="paramtype">const Eigen::VectorXf &amp;&#160;</td>
          <td class="paramname"><em>model_coefficients</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const double&#160;</td>
          <td class="paramname"><em>threshold</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">virtual</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Count all the points which respect the given model coefficients as inliers. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">model_coefficients</td><td>the coefficients of a model that we need to compute distances to </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">threshold</td><td>maximum admissible distance threshold for determining the inliers from the outliers </td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>返回</dt><dd>the resultant number of inliers </dd></dl>

<p>重载 <a class="el" href="classpcl_1_1_sample_consensus_model_line.html#a2885d3c4271f8cb8aed6ebc34c65d994">pcl::SampleConsensusModelLine&lt; PointT &gt;</a> .</p>
<div class="fragment"><div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;{</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;  <span class="comment">// Check if the model is valid given the user constraints</span></div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;  <span class="keywordflow">if</span> (!<a class="code" href="classpcl_1_1_sample_consensus_model_parallel_line.html#a764e15f742e8cd40199039b39fc9f802">isModelValid</a> (model_coefficients))</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;    <span class="keywordflow">return</span> (0);</div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160; </div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;  <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1_sample_consensus_model_line.html#a2885d3c4271f8cb8aed6ebc34c65d994">SampleConsensusModelLine&lt;PointT&gt;::countWithinDistance</a> (model_coefficients, threshold));</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;}</div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_model_line_html_a2885d3c4271f8cb8aed6ebc34c65d994"><div class="ttname"><a href="classpcl_1_1_sample_consensus_model_line.html#a2885d3c4271f8cb8aed6ebc34c65d994">pcl::SampleConsensusModelLine::countWithinDistance</a></div><div class="ttdeci">virtual int countWithinDistance(const Eigen::VectorXf &amp;model_coefficients, const double threshold)</div><div class="ttdoc">Count all the points which respect the given model coefficients as inliers.</div><div class="ttdef"><b>Definition:</b> sac_model_line.hpp:162</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_model_parallel_line_html_a764e15f742e8cd40199039b39fc9f802"><div class="ttname"><a href="classpcl_1_1_sample_consensus_model_parallel_line.html#a764e15f742e8cd40199039b39fc9f802">pcl::SampleConsensusModelParallelLine::isModelValid</a></div><div class="ttdeci">virtual bool isModelValid(const Eigen::VectorXf &amp;model_coefficients)</div><div class="ttdoc">Check whether a model is valid given the user constraints.</div><div class="ttdef"><b>Definition:</b> sac_model_parallel_line.hpp:91</div></div>
</div><!-- fragment -->
</div>
</div>
<a id="aba35bb7eb6ca7b019983bbddd8573fb4"></a>
<h2 class="memtitle"><span class="permalink"><a href="#aba35bb7eb6ca7b019983bbddd8573fb4">&#9670;&nbsp;</a></span>getDistancesToModel()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointT &gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">void <a class="el" href="classpcl_1_1_sample_consensus_model_parallel_line.html">pcl::SampleConsensusModelParallelLine</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::getDistancesToModel </td>
          <td>(</td>
          <td class="paramtype">const Eigen::VectorXf &amp;&#160;</td>
          <td class="paramname"><em>model_coefficients</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">std::vector&lt; double &gt; &amp;&#160;</td>
          <td class="paramname"><em>distances</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">virtual</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Compute all squared distances from the cloud data to a given line model. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">model_coefficients</td><td>the coefficients of a line model that we need to compute distances to </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">distances</td><td>the resultant estimated squared distances </td></tr>
  </table>
  </dd>
</dl>

<p>重载 <a class="el" href="classpcl_1_1_sample_consensus_model_line.html#a68b282649799eac370616e9ab124c970">pcl::SampleConsensusModelLine&lt; PointT &gt;</a> .</p>
<div class="fragment"><div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;{</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;  <span class="comment">// Check if the model is valid given the user constraints</span></div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;  <span class="keywordflow">if</span> (!<a class="code" href="classpcl_1_1_sample_consensus_model_parallel_line.html#a764e15f742e8cd40199039b39fc9f802">isModelValid</a> (model_coefficients))</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;  {</div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;    distances.clear ();</div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;    <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;  }</div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160; </div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;  <a class="code" href="classpcl_1_1_sample_consensus_model_line.html#a68b282649799eac370616e9ab124c970">SampleConsensusModelLine&lt;PointT&gt;::getDistancesToModel</a> (model_coefficients, distances);</div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;}</div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_model_line_html_a68b282649799eac370616e9ab124c970"><div class="ttname"><a href="classpcl_1_1_sample_consensus_model_line.html#a68b282649799eac370616e9ab124c970">pcl::SampleConsensusModelLine::getDistancesToModel</a></div><div class="ttdeci">void getDistancesToModel(const Eigen::VectorXf &amp;model_coefficients, std::vector&lt; double &gt; &amp;distances)</div><div class="ttdoc">Compute all squared distances from the cloud data to a given line model.</div><div class="ttdef"><b>Definition:</b> sac_model_line.hpp:97</div></div>
</div><!-- fragment -->
</div>
</div>
<a id="a764e15f742e8cd40199039b39fc9f802"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a764e15f742e8cd40199039b39fc9f802">&#9670;&nbsp;</a></span>isModelValid()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointT &gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">bool <a class="el" href="classpcl_1_1_sample_consensus_model_parallel_line.html">pcl::SampleConsensusModelParallelLine</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::isModelValid </td>
          <td>(</td>
          <td class="paramtype">const Eigen::VectorXf &amp;&#160;</td>
          <td class="paramname"><em>model_coefficients</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">protected</span><span class="mlabel">virtual</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Check whether a model is valid given the user constraints. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">model_coefficients</td><td>the set of model coefficients </td></tr>
  </table>
  </dd>
</dl>

<p>重载 <a class="el" href="classpcl_1_1_sample_consensus_model.html#ad22a9cfdd9cf08bcf85ef1e88b62b9d2">pcl::SampleConsensusModel&lt; PointT &gt;</a> .</p>
<div class="fragment"><div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;{</div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;  <span class="keywordflow">if</span> (!<a class="code" href="classpcl_1_1_sample_consensus_model.html#ad22a9cfdd9cf08bcf85ef1e88b62b9d2">SampleConsensusModel&lt;PointT&gt;::isModelValid</a> (model_coefficients))</div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;    <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160; </div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;  <span class="comment">// Check against template, if given</span></div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;  <span class="keywordflow">if</span> (<a class="code" href="classpcl_1_1_sample_consensus_model_parallel_line.html#a936ed492f86974639b82de8dc20e710e">eps_angle_</a> &gt; 0.0)</div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;  {</div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;    <span class="comment">// Obtain the line direction</span></div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;    Eigen::Vector4f line_dir (model_coefficients[3], model_coefficients[4], model_coefficients[5], 0);</div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160; </div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;    Eigen::Vector4f axis (<a class="code" href="classpcl_1_1_sample_consensus_model_parallel_line.html#ab6b784039fec46f8f32001d6b093df25">axis_</a>[0], <a class="code" href="classpcl_1_1_sample_consensus_model_parallel_line.html#ab6b784039fec46f8f32001d6b093df25">axis_</a>[1], <a class="code" href="classpcl_1_1_sample_consensus_model_parallel_line.html#ab6b784039fec46f8f32001d6b093df25">axis_</a>[2], 0);</div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;    <span class="keywordtype">double</span> angle_diff = fabs (<a class="code" href="group__common.html#ga54999c02ba9bee56404539747b0fda51">getAngle3D</a> (axis, line_dir));</div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;    angle_diff = (std::min) (angle_diff, M_PI - angle_diff);</div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;    <span class="comment">// Check whether the current line model satisfies our angle threshold criterion with respect to the given axis</span></div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;    <span class="keywordflow">if</span> (angle_diff &gt; <a class="code" href="classpcl_1_1_sample_consensus_model_parallel_line.html#a936ed492f86974639b82de8dc20e710e">eps_angle_</a>)</div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;      <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;  }</div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160; </div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;  <span class="keywordflow">return</span> (<span class="keyword">true</span>);</div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;}</div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_model_html_ad22a9cfdd9cf08bcf85ef1e88b62b9d2"><div class="ttname"><a href="classpcl_1_1_sample_consensus_model.html#ad22a9cfdd9cf08bcf85ef1e88b62b9d2">pcl::SampleConsensusModel::isModelValid</a></div><div class="ttdeci">virtual bool isModelValid(const Eigen::VectorXf &amp;model_coefficients)</div><div class="ttdoc">Check whether a model is valid given the user constraints.</div><div class="ttdef"><b>Definition:</b> sac_model.h:516</div></div>
<div class="ttc" id="agroup__common_html_ga54999c02ba9bee56404539747b0fda51"><div class="ttname"><a href="group__common.html#ga54999c02ba9bee56404539747b0fda51">pcl::getAngle3D</a></div><div class="ttdeci">double getAngle3D(const Eigen::Vector4f &amp;v1, const Eigen::Vector4f &amp;v2, const bool in_degree=false)</div><div class="ttdoc">Compute the smallest angle between two 3D vectors in radians (default) or degree.</div><div class="ttdef"><b>Definition:</b> common.hpp:46</div></div>
</div><!-- fragment -->
</div>
</div>
<a id="ae3077204ccbc9222490bbe724fa39070"></a>
<h2 class="memtitle"><span class="permalink"><a href="#ae3077204ccbc9222490bbe724fa39070">&#9670;&nbsp;</a></span>selectWithinDistance()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointT &gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">void <a class="el" href="classpcl_1_1_sample_consensus_model_parallel_line.html">pcl::SampleConsensusModelParallelLine</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::selectWithinDistance </td>
          <td>(</td>
          <td class="paramtype">const Eigen::VectorXf &amp;&#160;</td>
          <td class="paramname"><em>model_coefficients</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const double&#160;</td>
          <td class="paramname"><em>threshold</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">std::vector&lt; int &gt; &amp;&#160;</td>
          <td class="paramname"><em>inliers</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">virtual</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Select all the points which respect the given model coefficients as inliers. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">model_coefficients</td><td>the coefficients of a line model that we need to compute distances to </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">threshold</td><td>a maximum admissible distance threshold for determining the inliers from the outliers </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">inliers</td><td>the resultant model inliers </td></tr>
  </table>
  </dd>
</dl>

<p>重载 <a class="el" href="classpcl_1_1_sample_consensus_model_line.html#a1204c9998433ce3b8b1e20240085df66">pcl::SampleConsensusModelLine&lt; PointT &gt;</a> .</p>
<div class="fragment"><div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;{</div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;  <span class="comment">// Check if the model is valid given the user constraints</span></div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;  <span class="keywordflow">if</span> (!<a class="code" href="classpcl_1_1_sample_consensus_model_parallel_line.html#a764e15f742e8cd40199039b39fc9f802">isModelValid</a> (model_coefficients))</div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;  {</div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;    inliers.clear ();</div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;    <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;  }</div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160; </div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;  <a class="code" href="classpcl_1_1_sample_consensus_model_line.html#a1204c9998433ce3b8b1e20240085df66">SampleConsensusModelLine&lt;PointT&gt;::selectWithinDistance</a> (model_coefficients, threshold, inliers);</div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;}</div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_model_line_html_a1204c9998433ce3b8b1e20240085df66"><div class="ttname"><a href="classpcl_1_1_sample_consensus_model_line.html#a1204c9998433ce3b8b1e20240085df66">pcl::SampleConsensusModelLine::selectWithinDistance</a></div><div class="ttdeci">void selectWithinDistance(const Eigen::VectorXf &amp;model_coefficients, const double threshold, std::vector&lt; int &gt; &amp;inliers)</div><div class="ttdoc">Select all the points which respect the given model coefficients as inliers.</div><div class="ttdef"><b>Definition:</b> sac_model_line.hpp:123</div></div>
</div><!-- fragment -->
</div>
</div>
<a id="acb4097faf67966bb0485748a5621088e"></a>
<h2 class="memtitle"><span class="permalink"><a href="#acb4097faf67966bb0485748a5621088e">&#9670;&nbsp;</a></span>setAxis()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointT &gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">void <a class="el" href="classpcl_1_1_sample_consensus_model_parallel_line.html">pcl::SampleConsensusModelParallelLine</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::setAxis </td>
          <td>(</td>
          <td class="paramtype">const Eigen::Vector3f &amp;&#160;</td>
          <td class="paramname"><em>ax</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Set the axis along which we need to search for a line. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">ax</td><td>the axis along which we need to search for a line </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;{ <a class="code" href="classpcl_1_1_sample_consensus_model_parallel_line.html#ab6b784039fec46f8f32001d6b093df25">axis_</a> = ax; <a class="code" href="classpcl_1_1_sample_consensus_model_parallel_line.html#ab6b784039fec46f8f32001d6b093df25">axis_</a>.normalize (); }</div>
</div><!-- fragment -->
</div>
</div>
<a id="af137b97406484a0c837ba428d3b149b4"></a>
<h2 class="memtitle"><span class="permalink"><a href="#af137b97406484a0c837ba428d3b149b4">&#9670;&nbsp;</a></span>setEpsAngle()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointT &gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">void <a class="el" href="classpcl_1_1_sample_consensus_model_parallel_line.html">pcl::SampleConsensusModelParallelLine</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::setEpsAngle </td>
          <td>(</td>
          <td class="paramtype">const double&#160;</td>
          <td class="paramname"><em>ea</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Set the angle epsilon (delta) threshold. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">ea</td><td>the maximum allowed difference between the line direction and the given axis (in radians). </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;{ <a class="code" href="classpcl_1_1_sample_consensus_model_parallel_line.html#a936ed492f86974639b82de8dc20e710e">eps_angle_</a> = ea; }</div>
</div><!-- fragment -->
</div>
</div>
<hr/>该类的文档由以下文件生成:<ul>
<li>sample_consensus/include/pcl/sample_consensus/<a class="el" href="sac__model__parallel__line_8h_source.html">sac_model_parallel_line.h</a></li>
<li>sample_consensus/include/pcl/sample_consensus/impl/<a class="el" href="sac__model__parallel__line_8hpp_source.html">sac_model_parallel_line.hpp</a></li>
</ul>
</div><!-- contents -->
</div><!-- doc-content -->
<!-- start footer part -->
<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
  <ul>
    <li class="navelem"><b>pcl</b></li><li class="navelem"><a class="el" href="classpcl_1_1_sample_consensus_model_parallel_line.html">SampleConsensusModelParallelLine</a></li>
    <li class="footer">制作者 <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1 </li>
  </ul>
</div>
</body>
</html>
